Performance of affine-splitting pseudo-spectral methods for fractional complex Ginzburg-Landau equations

In this paper, we evaluate the performance of novel numerical methods for solving one-dimensional nonlinear fractional dispersive and dissipative evolution equations. The methods are based on affine combinations of time-splitting integrators and pseudo-spectral discretizations using Hermite and Fourier expansions. We show the effectiveness of the proposed methods by numerically computing the dynamics of soliton solutions of the the standard and fractional variants of the nonlinear Schr\"odinger equation (NLSE) and the complex Ginzburg-Landau equation (CGLE), and by comparing the results with those obtained by standard splitting integrators. An exhaustive numerical investigation shows that the new technique is competitive with traditional composition-splitting schemes for the case of Hamiltonian problems both in terms accuracy and computational cost. Moreover, it is applicable straightforwardly to irreversible models, outperforming high-order symplectic integrators which could become unstable due to their need of negative time steps. Finally, we discuss potential improvements of the numerical methods aimed to increase their efficiency, and possible applications to the investigation of dissipative solitons that arise in nonlinear optical systems of contemporary interest. Overall, our method offers a promising alternative for solving a wide range of evolutionary partial differential equations.Comment: 31 pages, 12 figure

Stable classical structures in dissipative quantum chaotic systems

We study the stability of classical structures in chaotic systems when a dissipative quantum evolution takes place. We consider a paradigmatic model, the quantum baker map in contact with a heat bath at finite temperature. We analyze the behavior of the purity, fidelity and Husimi distributions corresponding to initial states localized on short periodic orbits (scar functions) and map eigenstates. Scar functions, that have a fundamental role in the semiclassical description of chaotic systems, emerge as very robust against environmental perturbations. This is confirmed by the study of other states localized on classical structures. Also, purity and fidelity show a complementary behavior as decoherence measures.Comment: 4 pages, 3 figure

On the effects of strain wave gear kinematic errors on the behaviour of an electro-mechanical flight control actuator for eVTOL aircrafts

In recent years, the increasingly growing overcrowding of urban environments and the resulting road traffic congestion have pushed toward the search for alternative mobility solutions, among which there are novel Urban Air Mobility (UAM) technologies. The UAM, together with the development of electric actuation systems, would allow decongesting the streets by exploiting the sky using electric Vertical Take-Off and Landing (eVTOL) aircrafts. Urban air mobility vehicles are primarily based on fully electrical flight control systems with rotary output. Since such technology is relatively new and unproven, Prognostic and Health Management (PHM) algorithms, able to continuously monitor the health status of such systems, are of particular interest. The diffusion of these systems strongly depends on the general confidence of possible customers. The present paper proposes a preliminary study on the effects of the kinematic error of a Strain Wave Gear (SWG), the most used reducer for this kind of applications, on the behaviour of an Electro-Mechanical Actuator (EMA) used as a flight control actuator for an eVTOL aircraft. The simulation results show how the unavoidable kinematic error affects the EMA performances and how its presence can be detected and quantified in strain wave gears

Effects of temperature and mounting configuration on the dynamic parameters identification of industrial robots

Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling

Identification of a UR5 collaborative robot dynamic parameters

The present paper describes an algorithm for the identification of the dynamic parameters of an industrial robot. This approach is based on the possibility to write robot dynamics in a linear form with respect to a specific set of dynamic parameters. To properly detect them, the coefficients of a 5th order Fast Fourier Series (FFS) trajectory have been optimized using a genetic algorithm. Such identification trajectory has been then commanded to a UR5 collaborative robot from Universal Robots and experimental joints torques have been recorded at a frequency of 125 Hz. Base dynamic parameters were identified using least square errors optimization reaching low standard deviations. The algorithm has been validated with a second persistent trajectory with good results. Temperature effects on friction coefficients have been analyzed by running two identification processes: one just after the first power-up of the robot and the other one after a half an hour warm-up

Collaborative robotics: Enhance maintenance procedures on primary flight control servo-actuators

Electro-Hydraulic Servo-Actuators (EHSAs) are mainly used to command primary flight control surfaces in military and commercial aircraft. Since these devices are crucial for vehicle stability and maneuverability, a correct assessment of their health status is mandatory. Within this framework, a joint research project (HyDiag), held by Politecnico di Torino and Lufthansa Technik AG (LHT), aims to provide a more efficient and reliable procedure to determine the operating conditions of the EHSA. A smart and automatic sequence, able to extract several health features of the Unit Under Test (UUT), has been developed and integrated. The present paper discusses the implementation of a collaborative robot, equipped with a vision system and customized tools, for both health features extraction, and maintenance tasks on unserviceable servo-actuators. The main challenges related to the automation of such complex tasks in a real working environment are highlighted, togetherwith the advantages brought by the proposed approach. The paper also presents the first results of an ongoing experimental campaign. Specifically, it reports the enhancements of the maintenance procedures using collaborative robotics and possible future developments

Precursor-Dependent Photocatalytic Activity of Carbon Dots

This work systematically compares both structural features and photocatalytic performance of a series of graphitic and amorphous carbon dots (CDs) prepared in a bottom-up manner from fructose, glucose, and citric acid. We demonstrate that the carbon source and synthetic procedures diversely affect the structural and optical properties of the CDs, which in turn unpredictably influence their photo electron transfer ability. The latter was evaluated by studying the photo-reduction of methyl viologen. Overall, citric acid-CDs were found to provide the best photocatalytic performance followed by fructose- and glucose-CDs. However, while the graphitization of glucose- and citric acid-CDs favored the photo-reaction, a reverse structure-activity dependence was observed for fructose-CDs due to the formation of a large graphitic-like supramolecular assembly. This study highlights the complexity to design in advance photo-active bio-based carbon nanomaterials

Endothelial Cell-Astrocyte Interactions

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/75690/1/j.1749-6632.1988.tb51417.x.pd

Identification of a Circadian Clock-Controlled Neural Pathway in the Rabbit Retina

Background: Although the circadian clock in the mammalian retina regulates many physiological processes in the retina, it is not known whether and how the clock controls the neuronal pathways involved in visual processing. Methodology/Principal Findings: By recording the light responses of rabbit axonless (A-type) horizontal cells under darkadapted conditions in both the day and night, we found that rod input to these cells was substantially increased at night under control conditions and following selective blockade of dopamine D2, but not D1, receptors during the day, so that the horizontal cells responded to very dim light at night but not in the day. Using neurobiotin tracer labeling, we also found that the extent of tracer coupling between rabbit rods and cones was more extensive during the night, compared to the day, and more extensive in the day following D 2 receptor blockade. Because A-type horizontal cells make synaptic contact exclusively with cones, these observations indicate that the circadian clock in the mammalian retina substantially increases rod input to A-type horizontal cells at night by enhancing rod-cone coupling. Moreover, the clock-induced increase in D2 receptor activation during the day decreases rod-cone coupling so that rod input to A-type horizontal cells is minimal. Conclusions/Significance: Considered together, these results identify the rod-cone gap junction as a key site in mammals through which the retinal clock, using dopamine activation of D2 receptors, controls signal flow in the day and night fro